System for pitching of baseball

ABSTRACT

The present invention is a system for pitching of baseball to enjoy virtual game, throwing a ball from a mound plate in a pitching room. The system includes a fiber net member placed in the back of the home plate and held a tension by the ceiling, floor, and right and left walls, for flexibly catching the thrown ball and for dropping it on the floor; a plurality of narrow light sources arranged on the ceiling, floor, right wall, or left wall at different positions between the mound and home plate, wherein each light source emits slit light to the opposite side; a video camera arranged on the front wall, for photographing optical images reflected by the thrown ball which in turn passes through the positions corresponding to each light source and for outputting image signal; and a computer for detecting three-dimensional positions of the thrown ball based on the image signal output from the video camera and for outputting detecting signal.

This application claims the benefit of priority of Japanese PatentApplications No. 2005-276963 filed Sep. 26, 2005 and No. 2005-348257filed Dec. 1, 2005, the contents of which are incorporated by referencein their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to a system for pitching ofbaseball or softball and, more particularly to a system for enjoyingvirtual baseball or softball game by throwing a ball in a pitching room.

2. Description of the Related Arts

There are several kinds of systems for enjoying virtual ball game suchas baseball or softball. For example, U.S. Pat. No. 5,222,731 toHanabusa et al. discloses a device for catching a ball. The devicecomprises a flam member, a net member put on the flame member, a matmember disposed the net member having a strike zone, and detection meansfor detecting the position of the pitched ball collided with or passedthrough the strike zone. The detection means is, for example, aplurality of photo-sensors mounted in predetermined location of thestrike zone.

U.S. Pat. No. 5,333,855 to Silin et al. discloses a baseball pitchinganalyzer having a housing in the form of a cube with a forward faceincluding an opening through which the baseball may pass. Located withinthe housing is an open rectangular frame mounting a plurality of lightemitters and associated light detectors, arranged to form an array orgrid of intersecting light beams.

U.S. Pat. No. 5,443,260 to Stewart et al. discloses a virtual realitybaseball training and amusement apparatus, which includes a pair ofdetection planes, a computer, a video display and simulator monitor, andthe like. The detection planes are spaced apart at a distance such thata ball batted through both detection planes would be a fair ball in areal ball. Each includes grid frame having a pair of optical scannerseach of which is CCD camera, and a pair of light sources. Each scannercaptures images of the ball to determine the coordinate of the ball bythe angle and sends it to the computer. The computer calculates thetrajectory and velocity of the ball.

U.S. Pat. No. 5,768,151 to Lowy et al. discloses a baseball simulationsystem, which includes a computer, a pair of cameras, and the like, andwhich determines the trajectory of a thrown ball from a baseballthrowing device. The cameras capture the images of the thrown ball anddetect two-dimensional coordinates of the reference planes. The computercalculates three-dimensional coordinates based on the two-dimensionalcoordinates and determines the trajectory of the ball.

SUMMERY OF THE INVENTION

These systems of the related arts detect the position of the ball byusing one of two technologies. Also the related Japanese Patents, someof which will be disclosed in the IDS after filing this application, aresimilar. One technology employs a plurality of the photo-sensors each ofwhich consists of an element emits light beam and an element receivesit. Such an arrangement, however, would be difficult to fabricate,because each signal emitter and signal receiver is too distant to rightalign both optical axes. Therefore, it would be quite difficult to alignthe optical axes of all photo-sensors without crosstalk. Other employs aplurality of the video cameras which capture the images of the thrownball. Each of video cameras can only detect the two-dimensionalcoordinates of the ball, so that it is necessary to calculate thethree-dimensional coordinates of the ball based on the two-dimensionalcoordinates by using a computer, e.g., CPU. Therefore, these systems mayrequire high cost due to the plurality of the video cameras and the highperformance computer.

An object of the present invention is to provide a system which willaccurately detect positions of a thrown ball, without any signal emitterand signal receiver which need align both optical axes, and to provide asystem without a plurality of the video cameras and a high performancecomputer, i.e., with low cost.

The system according to the present invention includes a pitching roomhaving a space which is enclosed with right and left walls, front andback walls, a ceiling, and a floor. The floor has a mound with a platefrom which a player throws a ball and a home plate which defines astrike region. The distance from the plate to the home plate isadaptable to the baseball or softball rules for adults and kids. Thepitching room includes a fiber net member placed in the back of the homeplate and held a tension by the ceiling, floor, and right and leftwalls, for flexibly catching the thrown ball and for dropping it on thefloor; a plurality of narrow light sources arranged on at least one sideof the ceiling, floor, right wall, and left wall at different positionsbetween the mound and home plate, wherein each light source emits slitlight to the opposite side; a video camera for photographing opticalimages reflected by the thrown ball which in turn passes through thepositions corresponding to each light source and for outputting imagesignal; and a computer for detecting three-dimensional positions of thethrown ball based on the image signal output from the video camera andfor outputting the detecting signal.

The present invention will provide a system for a player to enjoyvirtual baseball or softball game, by accurately detecting thethree-dimensional positions of the ball thrown from the mound withoutthe plurality of the photo-sensors, the plurality of the video cameras,and a high performance computer, and by judging the trajectory of theball which passes over the home plate.

BRIEF DESCRIPTION OF THE FIGURES

A better understanding of the present invention will be obtained whenthe following detailed description of preferred embodiments areconsidered in conjunction with the following drawings, in which:

FIG. 1 is a pitching system in an embodiment according to the presentinvention;

FIG. 2 is a schematically perspective illustration of a pitching room ofan embodiment according to the present invention;

FIG. 3 is a cross-section view of FIG. 2 taken along the line 3-3;

FIG. 4 is a cross-section view of FIG. 2 taken along the line 4-4;

FIG. 5A is a horizontal sectional view of a light source of FIG. 4;

FIG. 5B shows nine light sources of FIG. 4, emitting red vertical slitlights;

FIGS. 6A to 6E show images of a thrown ball;

FIG. 7A shows static pictures and a dynamic picture indicating a batter;

FIG. 7B shows a dynamic picture indicating a catcher;

FIG. 8 shows a catcher's picture directing a target of a ball;

FIGS. 9 to 11 show a catcher's picture catching a ball;

FIG. 12 shows a catcher's picture moving in response to a returningball;

FIG. 13 is a block diagram of the system in a pitching room;

FIGS. 14A to 14G show data formats in RAM of FIG. 13;

FIG. 15 is a flowchart of a computer of FIG. 13;

FIG. 16 is a flowchart of judging process of FIG. 15;

FIG. 17 a flowchart of judging process following FIG. 16;

FIG. 18 is a partial block diagram of a CMOS sensor in a video camera ofan embodiment according to the present invention;

FIG. 19 is a circuit diagram of electronics circuits in a CMOS sensor ofan embodiment according to the present invention;

FIG. 20 is signal forms in electronics circuits in a CMOS sensor of anembodiment according to the present invention;

FIG. 21 shows detecting the position of the flying ball; and

FIG. 22 is a robot in another embodiment according to the presentinvention.

DETAILED DESCRIPTION

FIG. 1 is a pitching system in an embodiment according to the presentinvention. The pitching system includes eight pitching rooms (PR1-8) 100in which a player enjoys virtual baseball game, a center managementsystem (CMS) 200 which communicates with the pitching rooms 100 viawireless signal, a reception device (RCP) 300 which communicates withthe CMS 200 and accepts customer's reservation of play for sending tothe CMS 200, a base station controller (BSC) 400 which communicates withthe CMS 200, and base stations (BS) 500 which communicate with the BSC400 and customer's mobile phones 600. Each mobile phone 600 communicateswith the most suitable BS 500 via wireless signal. The pitching systemaccording to the present invention is stalled in a shopping center, adepartment store, a stadium, or the like.

FIG. 2 is a schematically perspective illustration of the pitching room100, which is like a long house, having a space which is enclosed with aceiling 101, a floor 102, right and left walls 103, 104, a front wallwith a door 105 a, and a back wall 106. The interior of the pitchingroom 100 has a size; about 10 feet width, about 10 feet height, andabout 80 feet length.

FIG. 3 is a cross-sectional view of FIG. 2 taken along the line 3-3.FIG. 4 is a cross-sectional view of FIG. 2 taken along the line 4-4. InFIGS. 3 and 4, a pitcher's plate 1 on a mound from which a player throwsa ball and a home plate 2 by which a strike region is defined, areplaced on the floor 102 with a predetermined longitudinal distance. Forexample, in case of the baseball for adults, the distance from thepitcher's plate 1 to the home plate 2 is about 60 feet. And in FIGS. 3and 4, a computer 21 is placed on the floor 102 near the pitcher's plate1. A consol 22 having switches and a display such as LCD is placed onthe computer 21. As shown in FIG. 3, a video display device 30 with alarge screen, such as an LCD, a plasma screen and the like, is placed infront of the back wall 106. A fiber net member 24 is placed between thehome plate 2 and the device 30. The net member 24 is held a tension bythe ceiling 101, floor 102, right and left walls 103, 104.

Further, in FIGS. 3 and 4, a video camera 31 which photographs thethrown ball with a set angle of view and a camera controller 32 whichmechanically sets the angle of view of the camera 31, are placed on thefront wall 105 with a predetermined height. The camera 31 is positionedalong a longitudinal center line CL indicated by alternate long andshort dashed lines in FIG. 4.

The computer 21 is operatively connected to the consol 22, device 30,camera 31, camera controller 32 and the like, and systematicallycontrols them in order to progress the virtual baseball or softballgame. The computer 21 receives the signal from the consol 22 in whichthe user inputs commands indicating the game condition through theswitches. Also, the computer 21 sends the device 30 control signal bywhich the picture on the screen is selected. Further, the computer 21sends the camera controller 32 control signal by which the angle of viewof the camera 31 is set. Consequently, the computer 21 can obtain theimage signal of the thrown ball photographed by the camera 31, from thepreferable angle of view.

In FIG. 3, an area 102 b of the floor 102 in front of the net member 24forms a slope. Further, a hollow 102 c is formed at a predeterminedposition, also as shown in FIG. 4, of the sloped area 102 b. The slopedarea 102 b is the closer to the hollow 102 c, the lower the surface.Consequently, when the thrown ball which is flexibly stopped by the netmember 24 is dropped on the sloped area 102 b, it is routed to thehollow 102 c by gravity. A device 28 which returns the ball is buriedwithin the hollow 102 c, as shown by dotted line.

In FIG. 4, nine light sources L1 to L9 are arranged on the left wall104, and emit vertical slit lights p1 to p9 to the opposite right wall103. Each of the light sources is formed rectangular rod which extendsfrom the floor 102 to the ceiling 101. The light sources L1 to L7 arearranged with a predetermined span (e.g., 3 feet). The light sources L7and L8 are arranged at the positions corresponding to the front and backend of the home plate 2. That is, the span between the light sources L7and L8 is equal to the length of the home plate 2, i.e., 17 inches. And,the light source L9 is arranged near the net member 24. As shown in FIG.4, the distances from the net member 24 to the positions of the eightlight sources L8 to L1 are fixed lengths z(8) to z(1), where z(8) is 2feet 7 inches, z(7) is 4 feet, z(6) is 7 feet, z(5) is 10 feet, z(4) is13 feet, z(3) is 16 feet, z(2) is 19 feet, and z(1) is 22 feet. And thedistance from the net member 24 to the position of the light sources L9is very short, e.g., the ball diameter which is about 2.8 inches.

FIG. 5A is a horizontal sectional view of the light source L1. As shownin FIG. 5A, the light source L1 (L2 to L9 are the same) includes anarrow rod light 91 such as a fluorescent lamp, a cylindrical lens 92which only horizontally (not vertically) converges the light from therod light 91, and a color filter 93 which only passes through red colorlight with its optical characteristics. FIG. 5B shows the light sourcesL1 to L3 (L4 to L9 are the same) which emit red vertical slit lights p1to p3 to the opposite right wall 103 just like light curtains, whereby athrown ball 80 will pass through “three light curtains” in turn.

FIGS. 6A to 6E show the images of the thrown ball 80 photographed by thecamera 31. The images indicate the red light p1 reflected by the ball 80when it passes through the position of the light source L1. When theball 80 just reaches the position of the light source L1, the slit lightp1 strikes on the surface of the ball 80. Consequently, as in FIG. 6A,the red light p1 reflected by the ball 80 takes the shape of asemicircle formed by the outline of the ball 80. When the ball 80slightly passes that position, the red light p1 becomes the smallersemicircle as in FIG. 6B than in FIG. 6A. Then, the ball 80 the moreslightly passing that position, the smaller semicircle as in FIG. 6C to6D. And, when the end of ball 80 just reaches that position, the redlight p1 becomes like a point as in FIG. 6E.

Consequently, the center of the diameter of the semicircle shown in FIG.6A indicates the horizontal and vertical position of the ball 80 whichjust passes the position corresponding to the light source L1 which isthe fixed lengths z(1), i.e., 22 feet from the net member 24. When thecamera 31 sends the computer 21 the image signal of the semicircle, thecomputer 21 detects the position of the ball 80 passing through thelongitudinal position corresponding to the light source L1. That is, theposition is expressed three-dimensional coordinates: horizontal x(1),vertical y(1), and longitudinal z(1). Similarly, the camera 31 sends thecomputer 21 the image signal of the flying ball 80 which in turn passesthrough other eight positions corresponding to the light sources L2 toL9. Then the computer 21 detects three-dimensional coordinates: x(2) tox(9), y(2) to y(9), and z(2) to z(9). That is, the computer 21 detectsthe trajectory of the thrown ball 80 based on the image signalphotographed by video camera 31 and outputs the detecting signal to thedevice 30.

FIGS. 7A and 7B show pictures on the screen 25 of the device 30. FIG. 7Ashows the static pictures 25 s 1 to 25 s 4 and a dynamic picture 25 m 1indicating a batter. The pictures 25 s 1 to 25 s 4 and 25 m 1 aredisplayed before the player makes preparation for throwing the ball.FIG. 7B shows the dynamic pictures 25 m 1 and 25 m 2 indicating acatcher. The pictures are displayed after the player begins to throw theball. As shown in FIGS. 7A and 7B, the sloped area 102 b in front of thenet member 24 (not shown in FIG. 7A) is the closer to the hollow 102 c,the lower the surface as described above. In FIG. 7B, an umpire'sdynamic picture may be displayed at the back of the catcher's picture.

In FIG. 7A, the area 25 s 1 has 63 squares that consists of horizontal 7ones and vertical 9 ones, some indicate judgments; home run (HR):three-base hit (3B): two-base hit (2B): single-base hit (1B): strike(S): and foul (F); and others without letter are ball judgments all. Thearea 25 s 2 indicating the batter's picture 25 m 1 is further dividedthree areas which indicate hit by pitch (HP): wild pitch (WP): anddanger ball (BUZZ). The two areas 25 s 3 and 25 s 4 both indicate thewild pitch (WP). In this case, the right-handed batter's picture 25 m 1is displayed on the area 25 s 2, but alternative case, a left-handedbatter's picture will be displayed on the area 25 s 3, and the area 25 s2 will indicate wild pitch. The thrown ball is stopped and dropped bythe net member 24, so that the screen 25 of the display 30 is guardedagainst damage from the ball.

After the ball is stopped and dropped, the computer 21 judges the thrownball based on its trajectory including speed, particularly thetrajectory in a three-dimensional space over the home plate 2. Accordingto the baseball rules, the strike region is the space having the top andbottom planes of the same as the home plate 2 and the height between thenee and elbow of the batter's picture displayed. That is, the computer21 allow thrown ball to judge with at least two light sources L8 and L9.However, it is preferable to enjoy the virtual baseball game byarranging other light sources L1 to L7, because the catcher's picture 25m 2 moves in response to the flying ball passing through the positioncorresponding to L1 to L7.

With viewing from the mound, as shown in FIG. 7B, the net member 24 isdivided a visible area 24 a and an invisible area 24 b. Because the area24 b corresponds to the screen of the display 30, the area becomesinvisible by virtue of the diffuse reflection of the light from thescreen, as is the case that small branches of a tree become invisibleowing to the back light from the sun.

The catcher's picture 25 m 2 in FIG. 7B moves (changes) in response tothe pitcher's action and the position of the thrown ball. FIG. 8 showsthe catcher's picture 25 m 2 directing a target of the ball to thepitcher before throwing. In FIG. 8, the catcher's picture 25 m 2includes a mitt 25 m 3, a mark 25 which indicates a final position ofthe ball, and a right hand 25 m 5 which indicates a request for a typeof the ball to be thrown such as fastball, curve ball, slider, forkball,and the like. After throwing the ball, the catcher's picture 25 m 2 withmitt 25 m 5 moves in response to the trajectory of the ball (not shown).That is, the device 30 moves the catcher's picture 25 m 2 in response tothe detecting signal output from the computer 21.

When the ball is stopped by the net member 24, the catcher's picture 25m 2 moves as if catching the ball. FIGS. 9 to 11 show the catcher'spicture 25 m 2 catching the ball 80. Further, the catcher's picture 25 m2 moves in response to the position of the ball being dropped (notshown). As described above, the ball dropped on the sloped area 102 b isrouted to the hollow 102 c by gravity.

As shown in FIGS. 7A and 7B, the returning ball device 28, as shown bydotted line but not shown in detail, is buried within the hollow 102 c.The device 28 has an oblique cylinder which introduces the ball routedto the hollow 102 c, and a mechanism, including a motor, a drive circuitfor the motor, gears, and other parts, which pulls down the introducedball pressing a solenoid, a spring, or air, and which expels the ballpulled down through the repulsion of the solenoid, spring, or air. Theball expelled from the device 28 flies toward the mound with apredetermined trajectory depending upon the oblique angle and therepulsion power. The mechanism of the device 28 is controlled by thecomputer 21.

FIG. 12 shows the catcher's picture which the right hand 25 m 5 moves inresponse to the trajectory of the ball 80 expelled from the device 28.Consequently, the pitcher feels as if the ball 80 is returned from thecatcher's picture. Next, the pitcher will throw the same ball 80received from the device 28, so that one ball is sufficient for onepitching room 100.

FIG. 13 is a block diagram of the system in the pitching room 100. InFIG. 13, the computer 21 is operatively connected to the console 22,video camera 31, camera controller 32, display device 30 which readsimage to display from an image memory 45, returning ball device 28,light sources 43 (light source L1 to L9), as described above, andfurther connected to the system telecom 41, RAM 44, sound system 46,sensor interface 48, door driver 49, and mobile phone telecom 42.

The system telecom 41 communicates with the CMS 200 in FIG. 1 viawireless signal. The mobile phone telecom 42 communicates with themobile phone 600 which is entered for the pitching room 100. The soundsystem 46 creates various audio sounds such as the catching sound,hitting sound, umpire's judging voice, and the like. The door driver 49makes the door 105 a open/close depending upon the control of thecomputer 21. The sensor interface 48 input detecting signals of somesensors such as a door sensor which detects whether the door 105 a opensor closes, a plate sensor which detects whether pitcher's plate 1 ispressed by the pitcher or not, a sensor which detects whether the ballis introduced in the cylinder of the device 28, and the like. The RAM 44stores various data input from the computer 21.

FIGS. 14A to 14G show the data formats being stored in the RAM 44. FIG.14A indicates the score board indicating the virtual baseball gameaccording to the present invention. FIG. 14B indicates the judgmentsbased on the thrown ball; such as strikes (S): balls (B): outs (O):strikeouts (K): walks (WK): balks (BK): total number of runners (R):total pitch count (N): game time (TO) and the like. FIG. 14C indicatesthe four classes selected by the user via the console 22; beginner classsuch as for children (1), middle class (2), high class (3), and specialclass such as for professionals. FIG. 14D indicates the velocity of thethrown ball. FIG. 14E, for the high or special class, indicates whetherthe course of the ball is “OK” or “NG” based on the trajectory in athree-dimensional space over the home plate 2; or equivalently, itindicates whether the course is matched with the request indicated bythe right hand 25 m 5 of the catcher's picture 25 m 2 in FIG. 8 or not.FIG. 14F indicates the judgment for every thrown ball. FIG. 14Gindicates the momentum for every thrown ball. For example, the momentumis measured by the duration time from the ball first passes through theposition of L9 to the ball turning back passes through the sameposition; or equivalently, it is measured by the distance that the netmember 24 is pushed backward by impact of the ball.

FIG. 15 is a flowchart indicating the control of the computer 21 for thepreferred embodiment of the present invention. In FIG. 15, the computer21 determines whether an access from the CMS 200 is received via thesystem telecom 41 (Step 101). If Step 101 is “YES”, the computer 21determines whether the access indicates a reservation for the pitchinggame (Step 102). If Step 102 is “YES”, the computer 21 determineswhether the ID of the mobile phone (i.e., user) reserving is received(Step 103). If Step 103 is “NO”, the computer 21 requires the ID to theCMS 200 (Step 105). If Step 103 is “YES”, the computer 21 stores the IDinto the RAM 44 (Step 104). Then, the computer 21 performs judgingprocess (Step 106), and determines whether a flag STF is “0” or “1”(Step 108). If the STF is “1”, which means “playing”, the computer 21continues to perform judging process at Step 106. If the STF is “0”,which means “standby”, i.e., not playing, the computer 21 determineswhether next access is received at Step 101.

If Step 102 is “NO”; that is, the access does not indicate a reservationfor the pitching game, the computer 21 determines whether the access is“predicted end time of the current game” (Step 109). If Step 109 is“YES”, the computer 21 estimates the end time based on the current scorestored in the RAM 44 as shown in FIG. 14A (Step 110), and sends theestimated end time to the CMS 200 via the system telecom 41 (Step 111).

Accordingly, the CMS 200 determines at least one pitching room 100 whichhas sent the shortest end time, and determines whether the time isshorter than a threshold time, e.g., 5 minutes. When the time is shorterthan the threshold time, CMS 200 accesses the mobile phone of the nextuser reserving game, and sends data indicating the threshold time andthe pitching room number.

FIGS. 16 and 17 are flowcharts of judging process at Step 106 in FIG.15. The computer 21 determines whether the STF is “0” (Step 201). If theSTF is “0”, the computer 21 determines whether a demand for pitching isreceived from an outside mobile phone (Step 202). If Step 202 is “YES”,the computer 21 determines whether an ID of the mobile phone is theentered ID (Step 203). If Step 203 is “YES”, the computer 21 opens thedoor 105 a of the pitching room 100 (Step 204). Then, the user enters inthe pitching room 100, and operates the console 22. The console 22 has aplurality of switches such as class setting switches 1 to 4, a start(enter) switch, a ball holder with a sensor for detecting the ball inthe holder.

The computer 21 searches the switches of the console 22 (Step 205), andsets one class according to the user selection (Step 206). Then, thecomputer 21 sends the class data to the device 30 and causes the device30 to display the initial picture on the screen 24 (Step 207). Theinitial picture indicates the class selected by the user, and the rulesof this game: a maximum interval time of throwing ball (e.g., 15seconds); ejection rules (game over) for many giving runs, headhuntingor bean balls, or wild pitches; a premium which is changeable to goodsor service, for an excellent game such as a perfect game, a no hitter, ashut out, and which stores in the mobile phone of the excellent user.

The computer 21 determines whether the start switch is changed to “ON”(Step 208). If Step 208 is “YES”, the computer 21 determines whether theball is provided to the user (pitcher), by detecting that the sensor ofthe ball holder changes from “ON” to “OFF” (Step 209). If Step 209 is“YES”, the computer 21 sets the flag STF to “1”, i.e., “playing” (Step210), and directs the device 30 to display the pitching guide picturesas shown in FIGS. 7A and 7B in turn (Step 229). Next, the computer 21determines whether the plate sensor is “ON” (Step 211). If Step 211 is“YES” (pitcher begins throwing the ball), the computer 21 starts aninternal timer (Step 212), and determines whether the ball is thrown(Step 213). When detecting the ball passing through the positioncorresponding to the light source L1 shown in FIG. 4, the computer 21determines that the ball has been thrown. If Step 213 is “NO”, thecomputer 21 determines whether the timer is timeout (Step 214). If Step214 is “YES” (maximum interval time lapses), the computer 21 judges thissituation as “BALL” in spite of no throwing (Step 215). For example, 15seconds lapse from the time when the pitcher's plate 1 is pressed, thecomputer 21 judges the situation as “BALL”.

If Step 213 is “YES”, the computer 21 detects the 3-dimensional positionof the flying ball (Step 216), sends the detected position to the videodisplay device 30 (Step 217), and directs the device 30 to display thepicture directing a target of the ball shown in FIG. 8 (Step 218). Next,the computer 21 determines whether the ball position changes based onthe image signal from the camera 31 (Step 219 in FIG. 17). If Step 219is “YES”, the computer 21 sends the ball position to the device 30, anddirects the device 30 to select the image from the image memory 45 forthe ball position (Step 20), and to change from the current picturedisplaying on the screen to the new picture of the selected image (Step221). Next, the computer 21 determines whether the ball arrives at thenet member 24 by detecting the ball which passes through the position ofthe light source L9 (Step 222). If Step 222 is “NO”, the computer 21repeats the routine from Step 219 to Step 221. In this routine, thecatcher's picture moves in response to the 3-dimensional position of theflying ball.

If Step 222 is “YES” (ball arrives at the net member), the computer 21judges the thrown ball (Step 223), and directs the device 30 to displaythe judgment (Step 224). For example, the device 30 displays thecatcher's picture, such as FIG. 9, 10, or 11, e.g., as if catching theball, when the judgment is “strike” or “ball”; or displays the batter'spicture swinging the bat, when the judgment is “hit”. When the judgmentis “wild pitch”, “hit by pitch, or “buzz”, however, device 30 displaysanother picture (not shown). In addition, the device 30 may display theumpire's picture which indicates the motion of “strike”, “ball”, and thelike.

Next, the computer 21 stores the judged data, such as “strike”, “ball”,“hit”, “swing out”, “wild pitch”, and the like, into the RAM 44 (Step225). And, the computer 21 controls the sound system 46 creating soundsuch as the catching sound caused by a virtual mitt and umpire's judgingvoice such as “strike” or “ball”, e.g., or hitting sound caused by avirtual bat (Step 226). Next, the computer 21 controls the device 28returning the ball toward the mound (Step 227), and more directs thedevice 30 to display the catcher's picture returning the ball inresponse to the trajectory of the ball as shown in FIG. 12.

Next, the computer 21 determines whether the game is over (Step 228). IfStep 228 is “NO”, the computer 21 returns in FIG. 16, and directs thedevice 30 to display the picture based on the judgment (Step 229). Forexample, the device 30 displays the pictures like FIG. 7A and FIG. 7Bbut not the same, for the next judgment. And, the computer 21 repeatsthe routine from Step 211 in FIG. 16 to Step 228 in FIG. 17 at everythrowing, and progresses the virtual baseball game based on everyjudgment.

If Step 228 is “YES”, i.e., game over, the computer 21 sends the datastored in the RAM 44 to the CMS 200 (Step 230) via the system telecom41, resets the flag STF to “0” (Step 231), and returns Step 101 in FIG.15 to determine whether a new access from the CMS 200 for the next game.

The video camera 31, in order to output the image signal to the computer21 as soon as possible, includes at least one color image sensor and anelectronic circuit which drives the image sensor and an electroniccircuit which processes the image signal photographed by the imagesensor.

For example, if the velocity of the ball, which is thrown by aprofessional “heat” pitcher, is 99 mile/hour, the time when it passesthrough 3 feet, i.e., one span between two light sources, is about 20.7milliseconds. The velocity of the ball thrown by a normal player is veryslower than the former. Accordingly, it is sufficient that the camera 31may output the image signal of one frame during 20 milliseconds. This isrealized by using a CCD sensor or a CMOS sensor without any problems,however; the CMOS sensor is preferable for this purpose.

The CMOS sensor can independently output the different color imagesignals, such as primary-colors, i.e., red, green, and blue, orsubtractive primaries, i.e., yellow, magenta, and cyan, so that thecamera 31 with the CMOS sensor can clearly recognize the optical colorimages reflected by the thrown ball and output the image signal withhigh speed.

FIG. 18 is a partial block diagram showing the CMOS sensor havingphotographing elements 314 with primary-colors filters “R”, “G”, and“B”, a horizontal and vertical shift registers 311, 312 which are the“X-Y address scanning”, and FET switches 313. The FET switches 313output red color image signal (Rout), green color image signal (Gout),and blue color image signal (Bout) independently.

FIG. 19 is the electronic circuit which processes image signals Rin,Gin, and Bin output from the CMOS sensor in FIG. 18, and FIG. 20 showsschematically signal forms in the circuit of FIG. 19. In FIG. 20, eachof image signals Rin, Gin, and Bin commonly includes white color (i.e.,all colors) signals (W). In FIG. 19, an AND circuit 315 calculates theproduct of Rin, Gin, and Bin, and outputs the common W. Each of threesubtract circuits 316 respectively subtracts W from Rin, from Gin, andfrom Bin, and outputs Rout, Gout, and Bout each of which includes no W.A RATIO circuit 317 outputs R-ratio, G-ratio, and B-ratio signals toeach subtract circuits 316 respectively, according to a feed back signalinput when installing or maintaining. If the color spectrum of the lightsources L1 to L9 corresponds to that of Rout, as shown in FIG. 5A, theRATIO circuit 317 outputs R-ratio signal “1”, and G-ratio and B-ratiosignals “0”s based on the feed back signal. As a result, a SUM circuit318 which sums Rout, Gout, and Bout from the three circuits 316 onlyoutputs Rout corresponding to the color spectrum of the light sources.If the color spectrum of the light sources different from that of Rout,Gout, or Bout, the feed back signal is generated so that the colorspectrum of the output signal from the SUM circuit 318 may correspond tothat of the light sources.

The light sources L1 to L9 may be arranged on the right wall 103 or theceiling 101. With arranging on the ceiling 101, the light sources emithorizontal slit lights to the opposite floor 102.

Each of the light sources L1 to L9 may emit different color light suchas red, green, and blue colors, depending upon the own position. Forexample, each color of L1, L2, L3, L4, L5, L6, L7, L8, and L9 is red,green, blue, red, blue, green, green, red, and red. In this case, theSUM circuit 318 in FIG. 19 will be omitted. That is, the CMOS sensorwill output three colors image signal to the computer 21. The computer21 will detect the position of the flying ball based on each color imagesignal depending upon its longitudinal position.

In addition, the CMOS sensor can photograph a part of one frame based onthe “X-Y address scanning” which is well known techniques. FIG. 21 showsdetecting the position of the flying ball. For example, as shown in FIG.21, the camera 31 with the CMOS sensor can photograph a small area(e.g., area3) in one frame by predicting based on a small area (area2)in which the ball and its vector are detected in a previous frame.Similarly, the camera 31 can photograph a small area (e.g., area4, 5 andthe like) based on a small area (area3, 4 and the like) in a previousframe.

In another embodiment according to the present invention, a robot isplaced on the floor 102 at the back of the home plate 2 instead of thenet member 24. FIG. 22 is a perspective view of the robot in thisembodiment. The robot has a pivotable base actuator M11, which isjointed on the floor 102, and through which the power and signal aresupplied, a body 270 which includes a receiver for receiving thedetecting signal output from the computer 21 and a controller forprocessing the detecting signal, a left arm, jointed to the body throughan actuator M1, having an elbow actuator M2, a wrist actuator (notshown), and a hand with a mitt device 271 which includes a shockabsorber, a right arm, jointed to the body through an actuator M3,having an elbow actuator M4, a wrist actuator M5, and a hand with fingeractuators M6 for indicating to request a type of the next ball to bethrown; such as fastball, curve ball, slider, forkball, or the like, aleft leg having knee and ankle actuators M7, M8, a right leg having kneeand ankle actuators M9, M10, and a head 272, jointed to the body, havinga display for indicating the next ball as well as the finger actuatorsM6. The controller controls all actuators so as to catch the thrown ballwith the mitt device 271 by processing the detecting signal, andcontrols the right hand taking it from the mitt device 271 and throwingit back toward the pitcher.

While the present invention has been described in conjunction with theexemplary embodiments and configurations outline above, it is evidentthat the embodiments and configurations described above are indicativeof additional alternative embodiments and configurations andcombinations of design parameter values, as will be apparent to thoseskilled in the art having benefit of this disclosure. Accordingly, theembodiments of the present invention, as set forth above, are intendedto be illustrative, not limiting. Various changes may be made withoutdeparting from the split and scope of the present invention.

1. A system for pitching of baseball comprising: a pitching room havinga space which is enclosed with right and left walls, front and backwalls, a ceiling, and a floor having a mound from which a player willthrow a ball and a home plate by which the thrown ball will be judgeddepending upon its trajectory, wherein the distance between the moundand home plate is adaptable for the baseball or softball rule for adultsand kids; a fiber net member placed in the back of the home plate andheld a tension by the ceiling, floor, and right and left walls, forflexibly catching the thrown ball and for dropping it on the floor; aplurality of narrow light sources arranged on at least one side of theceiling, floor, right wall, and left wall at different positions betweenthe mound and home plate, wherein each light source emits slit light tothe opposite side; a video camera for photographing optical imagesreflected by the thrown ball which in turn passes through the positionscorresponding to each light source and for outputting image signal; anda computer for detecting three-dimensional positions of the thrown ballbased on the image signal output from the video camera and foroutputting the detecting signal.
 2. The system according to claim 1,wherein each light source emits a specific color light by which thevideo camera can clearly recognize the optical images reflected by thethrown ball and can output the image signal with high speed.
 3. Thesystem according to claim 2, wherein the video camera has a CMOS imagesensor which outputs the color image signal having the color spectrumsubstantially corresponding to that of the specific color light emittedby each light source.
 4. The system according to claim 1, wherein theplurality of light sources emit different color lights depending uponeach longitudinal position.
 5. The system according to claim 4, whereinthe video camera has a CMOS image sensor which outputs the color imagesignal having the color spectrum substantially corresponding to that ofthe specific color light emitted by each light source.
 6. The systemaccording to claim 2, wherein each light source has an optical filteronly passing the specific color light.
 7. The system according to claim4, wherein each light source has an optical filter only passing thespecific color light.
 8. The system according to claim 1, furthercomprising: a video display device placed at the back of the fiber netmember for displaying a catcher's picture moving in response to thedetecting signal output from the computer, as if to catch the thrownball.
 9. The system according to claim 1, wherein the computer judgesthe ball passed through three dimensions above the home plate based onthe detecting signal, and provides the progress of the virtual baseballgame based on the judgment.
 10. The system according to claim 1, furthercomprising: a slope formed on the floor where the fiber net member dropsthe ball thereon; and a device for setting the ball which is routed bygravity on the slope and for throwing back the ball toward the pitcher.11. The system according to claim 1, further comprising a robot insteadof the fiber net member, the robot comprising: a pivotable base which isjointed to the floor and through which the power and signal aresupplied; a body including a receiver for receiving the detecting signaloutput from the computer and a controller for processing the detectingsignal received by the receiver; a left arm which is jointed to the bodythrough an actuator and which has an elbow actuator, a wrist actuator,and a hand with a mitt device including a shock absorber; and a rightarm which is jointed to the body through an actuator and which has anelbow actuator, a wrist actuator, and a hand with finger actuators forindicating to request a type of the next ball; wherein the controllercontrols all actuators so as to catch the thrown ball with the mittdevice based on processing the detecting signal, then to throw it backwith the right hand toward the player.
 12. The system according to claim11, further comprising: a head which is jointed to the body and whichhas a display for indicating to request the same type of the next ballas indicated by the finger actuators.
 13. The system according to claim1, further comprising: a wireless communication device for receiving areservation to play game from a customer's mobile phone, and fortransmitting information on timing for playing to the mobile phone. 14.The system according to claim 1, wherein the system is installed in astore providing merchandise and/or service, and further comprising: amanagement device for discounting a playing fee to a person based onpurchase price to the person, and discount selling price to a personbased on excellent pitching game by the person.
 15. The system accordingto claim 14, wherein the fee for the provided merchandise and/or serviceis paid through the electronic cash via the mobile phone using forpitching game.